Human-walker interaction on slopes based on LRF and IMU sensors

Smart Walkers should be able to safely deal with inclinations in order to become a device effectively useful in the daily life of the elderly population. This paper presents a novel model of human-walker interaction on slopes. The interaction parameters are obtained from a Laser Range Finder (LRF) and an Inertial Measurement Unit (IMU). This model is integrated into the conventional closed control loop as a supervisor block. This block modifies, based on inclinations, the control set points to provide an adaptable human-walker desired position to improve comfort and safety and enhance user's confidence in the walker. The practical evaluation shows that the parameters extracted from the natural behavior of the user and the estimated set points determined with the model proposal are highly correlated, presenting a similar trend. This correlation allows performing a more natural control.